CN116358565B - Aerocar route generation method based on navigation map - Google Patents

Abstract

The application discloses a method for generating a flight vehicle route based on a navigation map, which comprises the following steps: step 1, generating a two-dimensional route; determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements; step 2, carrying out smoothing treatment on the generated two-dimensional route; step 3, calculating the flight distance of the route; step 4, generating map elevation; step 5, generating a flight altitude; and 6, generating a flight route. Has the following advantages: the two-dimensional route can be automatically extracted based on navigation mapping or image recognition, and the corresponding elevation information is utilized to automatically generate the flying route of the aerocar.

Description

Aerocar route generation method based on navigation map

Technical Field

The application belongs to the technical field of aerocar and unmanned aerial vehicle route generation, and particularly relates to an aerocar route generation method based on a navigation map.

Background

With the rapid development of cities in China, the scale of the cities is rapidly expanded, the commuting time of residents is continuously prolonged, and the reason for the phenomenon is that the existing traffic system is only in a two-dimensional stage, traffic facilities cannot be infinitely increased, and the problem of traffic jam of the cities is difficult to solve fundamentally. Therefore, constructing a low-altitude intelligent traffic system facing to a three-dimensional space by adopting a flying car is a break for solving the problems of traffic jam and the like in the future.

The safe operation of the aerocar must solve the design problem of the low-altitude route, needs to combine the urban and inter-urban low-altitude operation environments to create a flexible, flexible and flexible low-altitude route so as to meet the requirements of large-scale and normalized urban air transportation scenes. At present, a standard and general generation method is not formed for generating the route of the aerocar, the route generation usually adopts modes of manual dotting, template generation, manual adjustment and the like, the longitude and latitude of route points and the flight safety height are set, the route generation mode is extensive, and the flexibility of route generation is lacked. With the continuous development of the aerocar technology, the urban and inter-urban low-altitude environments are required to be combined, and the route generation is flexibly performed based on the navigation map so as to ensure the safe operation of the aerocar.

Disclosure of Invention

The technical problem to be solved by the application is to provide a flying car route generation method based on a navigation map, which can automatically extract a two-dimensional route based on navigation map drawing or image recognition and automatically generate a flying car flight route by utilizing corresponding elevation information.

In order to solve the technical problems, the application adopts the following technical scheme:

a flying car route generation method based on a navigation map comprises the following steps:

step 1, generating a two-dimensional route;

determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements;

step 2, carrying out smoothing treatment on the generated two-dimensional route;

smoothing longitude and latitude of the two-dimensional course by adopting a five-point three-time smoothing method to obtain smoothed precision lon (N) and lat (N), wherein N represents the number of discrete points of the two-dimensional course;

step 3, calculating the flight distance of the route;

calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through;

step 4, generating map elevation;

based on the smoothed two-dimensional course longitude and latitude, extracting elevation information corresponding to the longitude and latitude position, including the terrain and the height of a ground building, forming course elevation information h (N), wherein the flying height of the flying automobile passing through the longitude and latitude should be greater than h (N), and meanwhile, a certain safe flying height is maintainedThe resulting map elevation H (N) =h (N) +>；

Step 5, generating a flight altitude;

based on map elevation, setting maximum climbing angle constraint of aerocarNamely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and generating flight elevations meeting the constraint from the highest point of the map elevation to the starting point and the ending point respectively, and combining the two sections to form the final flight elevation;

step 6, generating a flight route;

combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.

Further, in the step 2, the five-point three-time smoothing method is a processing method for performing three-time least polynomial smoothing on discrete data by using a least square method, and the sequence x (N), n=1, 2, …, N is set as data to be smoothed, the data smoothed by the five-point three-time smoothing method is y (N), n=1, 2, …, N, and the following formula is provided:

。

further, the step 5 includes the following steps:

step 5.1, generating a fly-height flow in the starting point direction as follows:

step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;

step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current pointM-1 values in total;

assume that the climbing angle from the ith point to the current point mThe calculation formula is as follows:

；

step 5.1.3, takingMinimum value +.>And record the climbing angle +.>Corresponding discrete point positions I and elevations { I, H (I) } according to +.>Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Meeting the constraint, the elevation H (I) is keptUnchanged if->If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.

Further, the step 5 further includes the following steps: step 5.2, generating a fly-height flow towards the end point direction as follows:

step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;

step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current pointN-m-1 total;

assume that the climbing angle from the ith point to the current pointThe calculation formula is as follows:

；

step 5.2.3, fetchMinimum value +.>And record the climbing angle +.>Corresponding discrete point positions and elevations { I, H (I) }, according to +.>Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Satisfying the constraint, the elevation H (I) remains unchanged if +.>If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.

Compared with the prior art, the application has the following technical effects:

the two-dimensional route can be automatically extracted based on navigation map drawing or image recognition, and then the corresponding elevation information is utilized to automatically generate the flying route of the flying automobile, so that the flexibility and the actual operability of the design of the flying automobile route are greatly improved, and the method can be applied to various application scenes such as sightseeing flight, flight inspection and the like along special routes such as rivers, roads, mountain bodies and the like; in addition, when the flying height of the flying car is generated, the corresponding height information is utilized in combination with the urban and inter-urban low-altitude running environments, the climbing angle constraint of the flying car is considered, a certain safe flying height is overlapped, and the flying car can slowly climb and descend while the safe running of the flying car is ensured, so that the flying stability of the flying car is maintained.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a flow chart of a method of generating a flight path for a motor vehicle in accordance with the present application;

FIG. 2 is a flow chart of generating fly-height in the direction of origin in the present application;

FIG. 3 is a flow chart illustrating the generation of fly-height in the destination direction in accordance with the present application.

Detailed Description

An embodiment, as shown in fig. 1 to 3, is a method for generating a flight vehicle route based on a navigation map, including the following steps:

step 1, generating a two-dimensional route;

determining a flight starting point and a flight ending point on a navigation map, generating a two-dimensional route according to flight requirements by taking into consideration urban risk maps and fusion personnel density factors, and manually drawing the two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method, such as drawing according to characteristics of rivers, coasts, roads and the like;

step 2, carrying out smoothing treatment on the generated two-dimensional route;

the two-dimensional course drawn manually or the two-dimensional course drawn by adopting the image recognition method has noise, the generated two-dimensional course turns back and forth, and the shaking linearity is obvious because the course is required to be frequently adjusted when the flying automobile flies, so that the two-dimensional course is required to be smoothed, a series of longitudes and latitudes of the two-dimensional course can be smoothed by adopting a five-point three-time smoothing method or other smoothing methods, the smoothed precision lon (N) is obtained, and lat (N) and N represent the number of discrete points of the two-dimensional course.

The five-point three-time smoothing method is a processing method for smoothing discrete data by using a least square method principle to perform three-time minimum polynomial, and a sequence x (N), wherein n=1, 2, … and N are provided as data to be smoothed, the smoothed data of the five-point three-time smoothing method is y (N), and n=1, 2, … and N are provided as follows

。

Step 3, calculating the flight distance of the route;

calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through; assuming that the distance between the point i and the point i+1 is L (i), the distance between the adjacent discrete points of the N route discrete points can form an N-1 dimension distance vector L (N-1), and the calculation formula of the flight distance of the point i is as follows:

。

step 4, generating map elevation;

based on the smoothed two-dimensional course longitude and latitude, extracting elevation information corresponding to the longitude and latitude position, including the terrain and the height of a ground building, forming course elevation information h (N), wherein the flying height of the flying automobile passing through the longitude and latitude should be greater than h (N), and meanwhile, a certain safe flying height is maintained，/>Taking 50m or 100m, the generated map elevation H (N) =h (N) +。

And 5, generating the flight altitude.

Based on map elevation, considering requirements of slow and stable ascending and descending heights of the aerocar, setting maximum climbing angle constraint of the aerocarNamely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and the flight elevation meeting the constraint is generated from the highest point of the map elevation to the direction of the starting point and the direction of the ending point respectively, and the two sections are combined to form the final flight elevation.

Step 5.1, generating a fly-height flow in the starting point direction as follows:

step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into H= { m, H (m) }, wherein m is the current point position, and H (m) is the current point elevation;

step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current pointM-1 values in total;

assume that the climbing angle from the ith point to the current point mThe calculation formula is as follows:

；

step 5.1.3, takingMinimum value +.>And record the climbing angle +.>Corresponding discrete point locations I and elevations { I, H (I) },according to->Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Satisfying the constraint, the elevation H (I) remains unchanged if +.>If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.

Step 5.2, generating a fly-height flow towards the end point direction as follows:

step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;

step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current pointN-m-1 total;

assume that the climbing angle from the ith point to the current pointThe calculation formula is as follows:

；

step 5.2.3, fetchMinimum value +.>And record the climbing angle +.>Corresponding discrete point positions and elevations { I, H (I) }, according to +.>Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Satisfying the constraint, the elevation H (I) remains unchanged if +.>If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.

Step 6, generating a flight route;

combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.

The description of the present application has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the application in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, and to enable others of ordinary skill in the art to understand the application for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (4)

1. A method for generating a flight vehicle route based on a navigation map is characterized by comprising the following steps of: the method comprises the following steps:

step 1, generating a two-dimensional route;

determining a flight starting point and a flight ending point on a navigation map, and manually drawing a two-dimensional route or automatically drawing the two-dimensional route by adopting a characteristic image recognition-based method according to flight requirements;

step 2, carrying out smoothing treatment on the generated two-dimensional route;

smoothing longitude and latitude of the two-dimensional course by adopting a five-point three-time smoothing method to obtain smoothed precision lon (N) and lat (N), wherein N represents the number of discrete points of the two-dimensional course;

step 3, calculating the flight distance of the route;

calculating a route flight distance D (N) based on the two-dimensional route longitude and latitude smoothed in the step 2, wherein the route flight distance is an accumulated value, 0 is obtained at the starting point, and the distance between the current discrete point and the last discrete point is increased every time a route discrete point passes through;

step 4, generating map elevation;

based on the smoothed longitude and latitude of the two-dimensional route, extracting elevation information, including land, corresponding to the longitude and latitude positionsThe shape and the height of the ground building form the route elevation information h (N), and the flying height of the flying car passing through the longitude and latitude is larger than h (N) while keeping a certain safe flying heightThe resulting map elevation H (N) =h (N) +>；

Step 5, generating a flight altitude;

based on map elevation, setting maximum climbing angle constraint of aerocarNamely, the included angle between the elevation rise and the horizontal plane flight distance cannot exceed the maximum climbing angle constraint, and generating flight elevations meeting the constraint from the highest point of the map elevation to the starting point and the ending point respectively, and combining the two sections to form the final flight elevation;

step 6, generating a flight route;

combining the flight elevation generated in the starting point direction and the flight elevation generated in the ending point direction to obtain a flight route elevation, wherein the flight route elevation is a set of the flight elevations of certain discrete points of the two-dimensional route; and then generating the elevation of the discrete point of the whole two-dimensional course by a linear interpolation mode, generating a flight course by combining longitude and latitude, and finally generating the flight course into a three-dimensional form { lon, lat, H }.

2. The method for generating a flying car route based on a navigation map according to claim 1, wherein: in the step 2, the five-point three-time smoothing method is a processing method for performing three-time minimum polynomial smoothing on discrete data by using a least square method, and the sequence x (N), n=1, 2, …, N is the data to be smoothed, the data smoothed by the five-point three-time smoothing method is y (N), n=1, 2, …, N, and the following formula is given:

。

3. the method for generating a flying car route based on a navigation map according to claim 1, wherein: said step 5 comprises the steps of:

step 5.1, generating a fly-height flow in the starting point direction as follows:

step 5.1.1, setting the current point as the highest point in all elevations, and storing the current point position and the elevations into HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;

step 5.1.2, if the current point is the starting point, namely m=1, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and m-1 discrete points in front, and obtaining the climbing angle from each point to the current pointM-1 values in total;

assume that the climbing angle from the ith point to the current point mThe calculation formula is as follows:

；

step 5.1.3, takingMinimum value +.>And record the climbing angle +.>Corresponding discrete point positions I and elevations { I, H (I) } according to +.>Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Satisfying the constraint, the elevation H (I) remains unchanged if +.>If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.1.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.1.5, outputting the flying heights generated towards the starting point direction, namely all the saved points including the positions and the flying heights.

4. The method for generating a flying car route based on a navigation map according to claim 1, wherein: said step 5 further comprises the steps of: step 5.2, generating a fly-height flow towards the end point direction as follows:

step 5.2.1, setting the current point as the highest point in all elevations, and recording the current point position and the elevation HH= { m, H (m) }, m being the current point position and H (m) being the current point elevation;

step 5.2.2, if the current point is the end point, namely m=n, ending, otherwise, calculating the elevation difference and the flight distance difference between the current point and the following N-m-1 discrete points to obtain the climbing angle from each point to the current pointN-m-1 total;

assume that the climbing angle from the ith point to the current pointThe calculation formula is as follows:

；

step 5.2.3, fetchMinimum value +.>And record the climbing angle +.>Corresponding discrete point positions and elevations { I, H (I) }, according to +.>Constraint with climbing angle->Adjusting the elevation value of H (I), i.e. if +.>Satisfying the constraint, the elevation H (I) remains unchanged if +.>If the constraint is exceeded, the elevation is adjusted to the climbing angle of +.>There is

；

Step 5.2.4, saving the point and the elevation { I, H (I) }, setting the point as the current point, and returning to the step (2) for circulation;

and 5.2.5, outputting the flying heights generated towards the end point direction, namely all the saved points including the position and the flying heights.